# 車子可視化

:::info
https://blog.csdn.net/weixin_52029211/article/details/119538435
:::

1. 創建功能包

cd catkin_ws  #进入工作空间
catkin_create_pkg jubot_demo urdf xacro #创建功能包、添加依赖
cd jubot_demo/
mkdir urdf
mkdir launch
mkdir meshes #存放渲染机器人模型的文件
mkdir config #存放rviz配置的文件

打開VS Code寫兩個檔案
jubot_base.urdf（放urdf資料夾下）
display_jubot_base_urdf.launch（放launch資料夾下）
config裡的rviz檔案是儲存生成的，不用寫

2. urdf文件

<?xml version="1.0" ?>
<robot name="dalbot">
    
<!--base_car-->>
    <link name="base_link">   
        <visual> 
            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/> 
            <geometry>  
                <box size="0.9 8.2 1.29"/>           
            </geometry>
            <material name="yellow"> 
                <color rgba="1 0.4 0 1"/>  
            </material>
        </visual>
    </link>

<!--left_back_wheel-->
    <joint name="left_back_joint" type="continuous">   
        <origin xyz="-0.20 0.298 0.109" rpy="1.57 0.0 0.0"/> 
        <parent link="base_link"/>  
        <child link="left_back_link"/> 
        <axis xyz="0.0 1.0 0.0"/>  
    </joint>

    <link name="left_back_link">
        <visual>
            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
            <geometry>
                <cylinder radius="0.109" length="0.04"/>
            </geometry>
            <material name="black">
                <color rgba="0 0 0 1"/>
            </material>
        </visual>
    </link>
 
<!--right_back_wheel-->
    <joint name="right_back_joint" type="continuous">
        <origin xyz="-0.20 -0.298 0.109" rpy="1.57 0.0 0.0"/>
        <parent link="base_link"/>
        <child link="right_back_link"/>
        <axis xyz="0.0 1.0 0.0"/>
    </joint>

    <link name="right_back_link">
        <visual>
            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
            <geometry>
                <cylinder radius="0.109" length="0.04"/>
            </geometry>
            <material name="black">
                <color rgba="0 0 0 1"/>
            </material>
        </visual>
    </link>

<!--left_front_wheel-->
    <joint name="left_front_joint" type="continuous">
        <origin xyz="0.20 0.298 0.109" rpy="1.57 0.0 0.0"/>
        <parent link="base_link"/>
        <child link="left_front_link"/>
        <axis xyz="0.0 1.0 0.0"/>
    </joint>

    <link name="left_front_link">
        <visual>
            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
                <geometry>
                  <cylinder radius="0.109" length="0.04"/>
                </geometry>
                <material name="black">
                    <color rgba="0 0 0 1"/>
                </material>
        </visual>
    </link>

<!--right_front_wheel-->
    <joint name="right_front_joint" type="continuous">
        <origin xyz="0.20 -0.298 0.109" rpy="1.57 0.0 0.0"/>
        <parent link="base_link"/>
        <child link="right_front_link"/>
        <axis xyz="0.0 1.0 0.0"/>
    </joint>

    <link name="right_front_link">
        <visual>
            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
                <geometry>
                    <cylinder radius="0.109" length="0.04"/>
                </geometry>
            <material name="black">
                <color rgba="0 0 0 1"/>
            </material>
        </visual>
    </link>
</robot>

3. launch文件

<launch>
	<!-- 设置机器人模型路径参数 -->
	<param name="robot_description" textfile="$(find jubot_demo)/urdf/jubot_base.urdf" />

	<!-- 运行joint_state_publisher节点，发布机器人的关节状态  -->
	<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
	
	<!-- 运行robot_state_publisher节点，发布tf  -->
	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
	
	<!-- 运行rviz可视化界面 -->
    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find jubot_demo)/config/jubot_urdf.rviz" required="true" />  
</launch>

4. 圖形化顯示

sudo apt-get install liburdfdom-tools

urdf 資料夾中使用指令

check_urdf jubot_base.urdf

urdf_to_graphiz jubot_base.urdf